Control system and adjusting method thereof

1. A control system controlling an output signal produced by a controlled object, the control system having a bandwidth and represented by a first mathematic model having a first transfer function, the control system comprising: a master control unit represented by a second mathematic model having a second transfer function configured to make an open loop bandwidth of the control system approach to a target bandwidth and generate a first operating signal; a first adjusting unit represented by a third mathematic model having a third transfer function and configured to receive the first operating signal and generate a first adjusting signal, wherein the first adjusting signal, the output signal, and the first operating signal are calculated for generating a second operating signal, and the output signal approaches to the first adjusting signal, so that an interference signal the controlled object subjects is offset; and a second adjusting unit represented by a fourth mathematic model having a fourth transfer function and configured to receive an input signal for generating a second adjusting signal, wherein the second adjusting signal, the output signal and the input signal are calculated for generating a third operating signal, which is provided for the master control unit and causes the first transfer function of the control system approaching to the fourth transfer function of the second adjusting unit.

2. The control system according to claim 1 , wherein the master control unit comprises a Proportional Integral (PI) Controller.

3. The control system according to claim 1 further comprising: a first adder configured to generate a first result signal by subtracting the output signal from the second adjusting signal; a loop stabilizer receiving the first result signal to generate a second result signal, and represented by a fifth mathematic model having an integral function to cause the control system to obtain a status of zero steady state error; a first amplifier receiving the second result signal and generating a third result signal by amplifying the second result signal by a first multiple, wherein the first multiple is adjusted so that the first transfer function of the control system approaches to the fourth transfer function of the second adjusting unit; and a second adder configured to generate the third operating signal by summing up the input signal and the third result signal and taking off the output signal.

4. The control system according to claim 1 , wherein the controlled object is a motor.

5. The control system according to claim 1 , wherein when the controlled object is a motor, the controlled object has a physical behavior presented by the first transfer function, K t /((J m +J d )s+B), wherein J m is an inertia of the motor, J d is an inertia of a load, B is a damping coefficient, and K t is a ratio; the second transfer function of the master controlled unit is 2πB w J Σ /K t , wherein B w , is the target bandwidth and J Σ is an estimated inertia value of (J m+ +J d ); the third transfer function of the first adjusting unit is K t /(J Σ s); and the fourth transfer function of the second adjusting unit is K t /(J Σ s).

6. A control system controlling an output signal produced by a controlled object, the control system having a bandwidth and represented by a first mathematic model having a first transfer function, the control system comprising: a master control unit represented by a second mathematic model having a second transfer function configured to make an open loop bandwidth of the control system approach to a target bandwidth, and generate a first operating signal; a first adjusting unit represented by a third mathematic model having a third transfer function and configured to receive the first operating signal and generate a first adjusting signal, wherein the first adjusting signal, the output signal, and the first operating signal are calculated for generating a second operating signal, and the output signal approaches the first adjusting signal, so that an interference signal the controlled object subjects is offset; a first adder configured to generate a first result signal by subtracting the output signal from the first adjusting signal; and a first amplifier configured to receive the first result signal and generate a second result signal by amplifying the first result signal by a first multiple, wherein the first multiple is adjusted so that the output signal approaches to the first adjusting signal.

7. The control system according to claim 6 , wherein the controlled object has a physical behavior and the master control unit is designed according to the physical behavior of the controlled object.

8. The control system according to claim 6 , wherein the master control unit comprises a Proportional Integral (PI) Controller.

9. The control system according to claim 6 , wherein the controlled object has a responsive behavior and the first adjusting unit is designed according to the responsive behavior of the controlled object.

10. The control system according to claim 6 further comprising a second adder configured to sum the second operating signal and the interference signal and provide the controlled object with a summation result of the second operating signal and the interference signal.

11. The control system according to claim 6 further comprising a second adjusting unit represented by a fourth mathematic model having a fourth transfer function and configured to receive a input signal and thereby generate a second adjusting signal, wherein the second adjusting signal, the output signal and the input signal are calculated for generating a third operating signal provided to the master control unit, so that the first transfer function of the control system approaches to the fourth transfer function of the second adjusting unit.

12. The control system according to claim 11 further comprising: a third adder configured to generate a third result signal by subtracting the output signal from the second adjusting signal; a loop stabilizer configured to receive the third result signal, and thereby generate a fourth result signal, the loop stabilizer represented by a fifth mathematic model having an integral function to cause the control system to obtain a status of zero steady state error; a second amplifier configured to receive the fourth result signal and generate a fifth result signal by amplifying the fourth result signal by a second multiple, wherein the second multiple is adjusted so that the first transfer function of the control system approaches to the fourth transfer function of the second adjusting unit; and a fourth adder configured to generate the third operating signal by summing up the input signal and the fifth result signal and taking off the output signal.

13. A adjusting method of a control system for adjusting an output signal generated by a controlled object, the control system having a bandwidth and represented by a first mathematic model having a first transfer function, the method comprising: (a) setting up a target bandwidth for the control system; (b) designing a control function based on the target bandwidth, and thereby causing a open loop bandwidth of the control system approaching to the target bandwidth and generating a first operating signal; (c) generating a first adjusting signal based on the first operating signal; (d) generating a first result signal by subtracting the output signal from the first adjusting signal; (e) generating a second result signal by amplifying the first result signal by a first multiple; (f) generating a second operating signal by summing up the second result signal and the first operating signal; and (g) adjusting the value of the first multiple so that the output signal approaches to the first adjusting signal by feeding the second operating signal back to the controlled object generating the output signal.

14. The method according to claim 13 , wherein the step (c) further comprises the steps of: (c1) designing a first adjusting function according to a responsive behavior of the controlled object; and (c2) processing the first operating signal by the first adjusting function for generating the first adjusting signal.

15. The method according to claim 13 further comprising the steps of: (h) providing an input signal to a second adjusting function for generating a second adjusting signal; and (i) calculating the second adjusting signal, the output signal and the input signal to generate a third operating signal, and causing the first transfer function of the control system approaching to the second adjusting function.

16. The method according to claim 15 , wherein the step (i) further comprises the steps of: (i1) generating a third result signal by subtracting the output signal from the second adjusting signal; (i2) receiving the third result signal and processing the third result signal by an integral calculation, so as to generate a fourth result signal; (i3) generating a fifth result signal by amplifying the fourth result signal by a second multiple; (i4) generating the third operating signal by summing up the fifth result signal and the input signal and taking off the output signal; and (i5) adjusting the value of the second multiple so that the first transfer function of the control system approaches to the second adjusting function.